Mastering ROS for robotics programming design, build, and simulate complex robots using Robot Operating System and master its out-of-the-box functionalities
Chapter 2: Working with 3D Robot Modeling in ROS; ROS packages for robot modeling; Understanding robot modeling using URDF; Creating the ROS package for the robot description; Creating our first URDF model; Explaining the URDF file; Visualizing the robot 3D model in Rviz; Interacting with pan and ti...
| Autor principal: | |
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| Formato: | Libro electrónico |
| Idioma: | Inglés |
| Publicado: |
Birmingham :
Packt Publishing
2015.
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| Colección: | EBSCO Academic eBook Collection Complete.
Community experience distilled. |
| Acceso en línea: | Conectar con la versión electrónica |
| Ver en Universidad de Navarra: | https://innopac.unav.es/record=b3927813x*spi |
Tabla de Contenidos:
- Cover; Copyright; Credits; About the Author; About the Reviewers; www.PacktPub.com; Table of Contents; Preface; Chapter 1: Introduction to ROS and Its Package Management; Why should we learn ROS?; Why we prefer ROS for robots; Why some do not prefer ROS for robots; Understanding the ROS file system level; ROS packages; ROS meta packages; ROS messages; The ROS services; Understanding the ROS computation graph level; Understanding ROS nodes; ROS messages; ROS topics; ROS services; ROS bags; Understanding ROS Master; Using the ROS parameter; Understanding ROS community level.
- What are the prerequisites to start with ROS?Running ROS Master and ROS parameter server; Checking the roscore command output; Creating a ROS package; Working with ROS topics; Creating ROS nodes; Building the nodes; Adding custom msg and srv files; Working with ROS services; Working with ROS actionlib; Building the ROS action server and client; Creating launch files; Applications of topics, services, and actionlib; Maintaining the ROS package; Releasing your ROS package; Preparing the ROS package for the release; Releasing our package; Creating a Wiki page for your ROS package; Questions.
- Type of jointsExplaining the xacro model of seven DOF arm ; Using constants; Using macros; Including other xacro files; Using meshes in the link; Working with the robot gripper; Viewing the seven DOF arm in Rviz; Understanding joint state publisher; Understanding the robot state publisher; Creating a robot model for the differential drive mobile robot; Questions; Summary; Chapter 3: Simulating Robots Using ROS and Gazebo; Simulating the robotic arm using Gazebo and ROS; The Robotic arm simulation model for Gazebo; Adding colors and textures to the Gazebo robot model.
- Adding transmission tags to actuate the modelAdding the gazebo_ros_control plugin; Adding a 3D vision sensor to Gazebo; Simulating the robotic arm with Xtion Pro; Visualizing the 3D sensor data; Moving robot joints using ROS controllers in Gazebo; Understanding the ros_control packages; Different types of ROS controllers and hardware interfaces; How the ROS controller interacts with Gazebo; Interfacing joint state controllers and joint position controllers to the arm; Launching the ROS controllers with Gazebo; Moving the robot joints; Simulating a differential wheeled robot in Gazebo.
